import os
from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    imu_node = Node(
        package='wit_ros2_imu',
        executable='wit_ros2_imu',
        name='imu',
        remappings=[('/wit/imu', '/imu/data')], # 重命名
        parameters=[{'frame_id':'imu_link'}, # 坐标系
                    {'port': '/dev/imu_usb'},
                    {"baud": 115200}],
        output="screen"

    )

    return LaunchDescription(
        [
            imu_node,
        ]
    )